On the Control Architecture and Functional Validation of the Control System for a Lower Limb Rehabilitation Robot
摘要
The paper presents the control architecture of a parallel robot for lower limb rehabilitation of bedridden patients. The control system of the robot is composed of industrial class equipment in order to obtain a stable solution and provide safe operation during the rehabilitation process. The graphical user interface is developed in collaboration with the medical specialists, to fit the requirements of the rehabilitation procedure and provide intuitive help for the operator during the rehabilitation procedure. The control system of the robot is validated using experimental laboratory tests performed on healthy subjects.